#include "ros/ros.h"
#include "epuckDriver/OdometryPublisherMsg.h"

void subOdometryTestCallBack(const epuckDriver::OdometryPublisherMsg::ConstPtr& elem ){

    ROS_INFO("x = %f\ny = %f\ntheta = %f\n",elem->pose2d.x,elem->pose2d.y,elem->pose2d.theta); 
    ROS_INFO("vx = %f\nvy = %f\nvtheta = %f\n",elem->twist.linear.x,elem->twist.linear.y,elem->twist.angular.z); 
}

int main(int argc,char **argv){

    ros::init(argc,argv,"epuckOdometryTest");
    ros::Subscriber sub;
    ros::NodeHandle n;

    sub =
n.subscribe<epuckDriver::OdometryPublisherMsg>("epuckOdometry0",10,subOdometryTestCallBack); 

    ros::spin();
    return 0;
}

